Actuators for soft robotic applications

Abstract

Soft actuators controlled by fluid pressure comprise two sacs which provide for the flexion of a structure upon pressurizing this structure that has an anisotropic flexibility, which is provided by different knitted layers. The knitted layers are produced as integrated with each other by means of the three-dimensional whole-garment knitting technique. The actuators can be adapted according to the different requirements and produced with standard qualities.

What is claimed is: 
     
       1. An actuator component production method comprising:
 knitting a first layer, a second layer, and a third layer between the first layer and the second layer, and 
 placing a first sac and a second sac between the first layer, the second layer and the third layer, and 
 wherein the first sac and the second sac are configured such that pressures of the first sac and the second sac are regulatable, 
 wherein the first layer, the second layer and the third layer are produced as a whole with a three-dimensional whole-garment knitting technique, 
 wherein the second layer is knitted in a way to comprise more courses on a unit length compared to the first layer and the third layer, 
 wherein a number of courses on the unit length towards sides of the second layer intersecting with the first layer and the third layer is decreased so that the second layer has equal course numbers on the unit length with the first layer and the third layer.